CN115350934B - Automatic flower sorting equipment with flower branches - Google Patents
Automatic flower sorting equipment with flower branches Download PDFInfo
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- CN115350934B CN115350934B CN202211294155.1A CN202211294155A CN115350934B CN 115350934 B CN115350934 B CN 115350934B CN 202211294155 A CN202211294155 A CN 202211294155A CN 115350934 B CN115350934 B CN 115350934B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention discloses automatic flower sorting equipment with flowering branches, which comprises: the automatic sorting device comprises a feeding mechanism, a sorting mechanism and a conveying mechanism, wherein the feeding mechanism comprises a manual feeding unit and an automatic feeding unit, and the conveying mechanism comprises a first conveying unit and a second conveying unit; the sorting mechanism comprises a mobile separation unit, a pattern receiving unit, a detection classification marking unit, a sterilization unit and a plurality of collecting units, wherein the pattern receiving unit spans the mobile separation unit; the discharging end of the manual feeding unit is butted, moved and separated from the unit, the automatic feeding unit is arranged above the butt joint, the right part of each grade of pattern splicing unit is positioned in the first conveying unit, and the first conveying unit is in matched butt joint with the second conveying unit. The automatic fresh cut flower sorting machine eliminates the problem of flower neck damage, is low in labor intensity, really realizes that 2 people operate the whole automatic fresh cut flower sorting production line, accurately sorts, and is higher in automation degree.
Description
Technical Field
The invention relates to the technical field of agricultural product processing machinery, in particular to automatic flower sorting equipment with flower branches.
Background
Fresh flowers (roses and Chinese roses) are not only spices, but also raw materials or ingredients of smoked tea, wine brewing, food and medicines, and various fresh cut flowers are also daily ornamental gifts, so that the application range is wide, and the economic value is very high. In the actual production, the automatic identification and sorting floor flow operation of flowers in large batches according to the openness, elbow defects, petal defects, damage, branch lengths and the like of the flowers is realized, so that the flowers which are picked from the floor and contain a large amount of various grades or waste products are identified and sorted, the operation adopts manual feeding, human eye identification and manual sorting methods, and the sorting work of about 8000-9000 flowers needs 8 persons to complete one hour of high-strength work. The manual identification and sorting are time-consuming and labor-consuming, the labor amount is large, the labor cost is high, and the efficiency is low.
Chinese patent No. CN211247400U discloses a device for fresh flower conveying, detection and grading, which is characterized in that regular single fresh flowers are sequentially sent into a low-speed carrier, the carrier carrying fresh flowers is lifted, detected, sterilized and graded, thereby liberating productivity, reducing labor intensity, improving production efficiency and theoretically needing only 2 people to run on line.
Chinese patent No. CN111784688A is an automatic flower grading method based on deep learning, the scheme comprehensively classifies flower deep learning model classification results and length measurement results to obtain accurate classification information and defective products, the results are sent to a PLC according to set control commands, the mechanical part of equipment is controlled to move, and flowers are accurately distributed to corresponding collecting bins according to the requirements of users.
The technical scheme is based on that fresh cut flowers are vertically hung on a carrier moving at low speed and high speed, the flower heads are upward, the hanging points are flower necks below the flower heads, the flower heads are hung on an O-shaped movable carrier capable of being opened or a U-shaped movable carrier by utilizing the characteristics of thin flower branches and large flower heads, although the equipment is small in occupied area, the later-stage process is facilitated, namely a rapid industrial camera is used for shooting the full appearance of petals, for the elbow defect of the flowers, most flower necks are soft, when the fresh cut flowers are hung on the carrier moving at low speed, the defect is difficult to distinguish by loading the flowers with the defect because the flower branches have weight, the flowers are deformed after being hung, in the later-stage process, in addition, in the technical scheme, the fresh cut flowers are hung on the carrier at low speed in the same mode for being transferred to the carrier for low-speed high-speed conveying in the mode no matter whether the fresh cut flowers are loaded on a single-structure unit or the subsequent high-speed carrier, the fresh flowers are frequently contacted with the flower necks and exert acting forces after being sorted, the fresh flowers are frequently contacted with the single-neck, the flower necks and the sorting are separated from the carrier, the flower neck, the flower-carrying mechanism only needs to push two pieces of the fresh flowers on the auxiliary flower-carrying mechanism for loading of two pieces of the fresh flowers, and the auxiliary flower-carrying mechanism for the auxiliary flower-carrying of the fresh flowers in the auxiliary flower-carrying mechanism, and the auxiliary flower-stage process needs to carry out the auxiliary flower-carrying of the auxiliary flower-separating mechanism.
Therefore, we propose an automatic flower sorting apparatus with branches, so as to solve the problems set forth above.
Disclosure of Invention
The invention aims to provide automatic flower sorting equipment with flowering branches, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic flower sorting device with flower branches comprises: the automatic sorting device comprises a feeding mechanism, a sorting mechanism and a conveying mechanism, wherein the feeding mechanism comprises a manual feeding unit and an automatic feeding unit, and the conveying mechanism comprises a first conveying unit and a second conveying unit;
the sorting mechanism comprises a mobile separation unit, a pattern receiving unit, a detection classification marking unit, a sterilization unit and a plurality of collecting units, wherein the pattern receiving unit spans the mobile separation unit;
the discharging end of the manual feeding unit is butted, moved and separated from the unit, an automatic feeding unit is arranged above the butted position, the right part of each grade cotton splicing unit is positioned in the first conveying unit, and the first conveying unit is matched and butted with the second conveying unit;
and a high-speed industrial camera and a length measurement photoelectric sensor are arranged on the inner side of the detection classification marking unit, and the high-speed industrial camera is connected with a computer control system.
Preferably, artifical material loading unit includes the platform frame, platform frame installation conveyor, conveyor includes main transfer roller, the bar belt, the drive roller, the baffle, gear motor and belt bending roll, main transfer roller is equipped with two, and be located platform frame's the both ends of controlling respectively, main transfer roller rotates with the platform frame to be connected, a plurality of bar belts are established to the cover on the main transfer roller, be equipped with the baffle between two adjacent bar belts, the bar belt is higher than the baffle, gear motor fixed mounting is in the side of platform frame, the drive roller is connected in the gear motor drive, drive roller top symmetry is equipped with the belt bending roll, drive roller and belt bending roll both ends are rotated and are installed the fixed plate, fixed plate and platform frame fixed mounting, the bar belt passes belt bending roll and drive roller.
Preferably, the automatic feeding unit comprises a gantry type frame, mechanical grippers and robots, two robots connected in parallel are hoisted in the gantry type frame, the mechanical grippers are installed at the lower end of each robot, each mechanical gripper comprises a gripper hanger main body and four gripper driving cylinders, each gripper driving cylinder is connected with a pair of grippers in a driving mode, a rotating rod is arranged in the gripper hanger main body, two gripper driving cylinders are installed at two ends of the rotating rod respectively, the two gripper driving cylinders at each end are vertically designed, the two ends of the rotating rod are fixedly installed between the bearing mounting shaft seats I, the bearing seats I and the gripper hanger main body, the rotating rod penetrates through one of the bearing seats I and then is connected with a coupler, the coupler is connected with the rotation driving cylinders, the rotation driving cylinders are fixedly installed with the gripper hanger main body through rotation cylinder mounting seats, transition plates are installed between the gripper driving cylinders and the rotating rod, and the two robots connected in parallel are connected with a vision device and a control system.
Preferably, the mobile separation unit comprises a mobile device frame, a circularly moving fresh cut flower carrier and a driving lever wheel blocking assembly, a motor driving conveying belt structure is installed on the mobile device frame, a plurality of circularly moving fresh cut flower carriers are arranged on the conveying belt structure, the driving lever wheel blocking assembly is installed on the mobile device frame, and the circularly moving fresh cut flower carriers sequentially circulate through the driving lever wheel blocking assembly.
Preferably, the conveying belt mechanism in the mobile device rack comprises synchronous belt wheels and synchronous belts with threaded holes, four groups of synchronous belt wheels are symmetrically installed at two ends of the mobile device rack, two synchronous belt wheels are symmetrically arranged on the mobile device rack in front and back of each group, a driving shaft is arranged between every two synchronous belt wheels, a synchronous belt with threaded holes is jointly sleeved on the synchronous belt wheels on the same side of the mobile device rack in front and back of the mobile device rack, the synchronous belt wheels are rotatably connected with the mobile device rack through two bearing seats, a motor mounting seat is arranged on one side of each synchronous belt wheel, the motor mounting seat is fixedly installed with the mobile device rack, a displacement control motor is fixedly installed on the motor mounting seat, the displacement control motor is in driving connection with the synchronous belt wheels, and the displacement control motor drives the synchronous belt wheels to rotate.
Preferably, the fresh cut flower carrier is moved in circulation includes carrier main frame, opening and closing door and semi-gear, version gear drive opening and closing door rotation opening and closing in the carrier main frame, and driving lever fender wheel subassembly is including keeping off wheel moving cylinder, cylinder mounting bracket and rotation fender wheel, keeps off wheel moving cylinder drive and rotates the fender wheel and do concertina movement, and driving lever fender wheel subassembly is equipped with a plurality of, and every driving lever keeps off wheel subassembly below and corresponds and install a collection unit, cylinder mounting bracket and mobile device frame fixed mounting keep off wheel moving cylinder drive push-and-pull shaft back-and-forth movement, and the push-and-pull shaft tip rotates the installation and rotates the fender wheel.
Preferably, carrier main frame bottom is through screw and threaded hole hold-in range fixed mounting, the mobile device frame is put the roof beam inboard and is equipped with the spill track, rubber coating bearing gyro wheel is installed to carrier main frame both ends symmetry, rubber coating bearing gyro wheel and mobile device frame's spill track sliding connection, the extension spring is installed to carrier main frame both sides, the extension spring other end fixed connection stationary blade, stationary blade and switching door fixed connection, the switching door symmetry is equipped with two, the switching door both ends form the rotation with the carrier main frame through the fixed axle and are connected the relation, accompany a semi-gear respectively between two fixed axles and two switching doors, two semi-gear meshing, and fixed mounting rotates the driving lever on one of them semi-gear, fixed axle and semi-gear and switching door junction adopt the design of six arriss.
Preferably, the collecting unit comprises a push-pull air cylinder, a flower-receiving inclined barrel body and a fresh cut flower buffer plate, the flower-receiving inclined barrel body is fixedly mounted at the lower end of an air cylinder mounting frame, openings are formed in the upper end and the lower end of the flower-receiving inclined barrel body, the fresh cut flower buffer plate is obliquely arranged at the openings, fresh cut flower buffer sponge is arranged in the fresh cut flower buffer plate, the lower end of the fresh cut flower buffer plate is elastically and rotatably connected with the flower-receiving inclined barrel body through hinges with torsion springs, the push-pull air cylinder is rotatably mounted on the lower end face of the flower-receiving inclined barrel body and is electrically connected with a computer control system, the push-pull air cylinder is rotatably connected with an upper partition door and a lower partition door, a hollowed window is formed in the lower barrel body of the flower-receiving inclined barrel body, the upper partition door is rotatably connected with the upper edge of the hollowed window through hinges, opening and closing hand grip air cylinders are symmetrically mounted in the front and back of the flower-receiving inclined barrel body, the opening hand grip air cylinders are used for driving and connecting a pair of oppositely-opening and closing sealing plates, the hand grip air cylinders are electrically connected with the computer control system, and drive the oppositely opening and closing sealing plates.
Preferably, each grade connects the flower unit to include horizontal linear motion module, supporting baseplate, bouquet flower connecting groove and triangle fixing base, and supporting baseplate lower extreme edge installs the bottom plate support column, and bottom plate support column lower extreme installation lower extreme is lower margin, and supporting baseplate spanes the mobile device frame and transports unit one, installs the horizontal linear motion module of a plurality of on the supporting baseplate, is equipped with the bouquet flower connecting groove on the horizontal linear motion module, and the horizontal linear motion module corresponds with every oblique bucket staving that connects the flower respectively.
Preferably, transport unit one and contain the fixed frame, the fixed frame upper end is equipped with the horizontal motion module, the horizontal motion module mainly comprises moving cylinder and guide rail sliding connection, set up the slip bedplate on the horizontal motion module, the slip bedplate drives the motion in the fixed frame by the horizontal motion module, install vertical linear motion module on the slip bedplate, vertical linear motion module mainly comprises lift cylinder and guide rail, vertical linear motion module lower extreme passes through installation pole fixing base fixed mounting tong device, the tong device contains tong installation pole, fixed mounting has tong cylinder mount pad on the tong installation pole, tong cylinder mount pad lower extreme installation tong cylinder, install a pair of tong finger under the tong cylinder.
Compared with the prior art, the invention has the beneficial effects that:
1. fresh cut flowers are horizontally arranged and sequentially pass through a manual feeding unit, an automatic feeding unit, a moving separation unit, a collection unit, flower receiving units of all levels and a first conveying unit, so that flower necks are prevented from being damaged, carriers only contact flower branches and are not in contact with flower diameters, the utilization rate of the carriers is low, the occupied area of equipment is increased, the fresh cut flowers are graded through a detection classification marking unit, and the flower necks are sorted according to different grades, so that the problem of damage of the flower necks is solved;
2. 2 high-speed four-axis parallel robots which work in coordination with each other are adopted, flower branches of the fresh cut flowers are grasped and fed through a vision device, the fresh cut flowers are directly fed onto a circulating moving fresh cut flower carrier which moves at a high speed, only 2 feeding personnel are needed for the whole fresh cut flower sorting line, the labor intensity is low, and the whole automatic fresh cut flower sorting production line can be really operated by 2 people;
3. the fresh cut flowers after grading are precisely sorted by circularly moving the fresh cut flower carrier, the collecting unit, the shifting rod catch wheel assembly, the flower receiving units in all grades and the conveying unit, so that the automation degree is higher.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a manual feeding unit according to the present invention;
FIG. 3 is a schematic structural view of an automatic feeding unit according to the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B according to the present invention;
FIG. 5 is a schematic structural view of a mechanical gripper according to the present invention;
FIG. 6 is a schematic structural diagram of a detection classification marking unit and a sterilization unit according to the present invention;
FIG. 7 is a schematic structural diagram of a mobile detaching unit according to the present invention;
FIG. 8 is a schematic view of the structure of the carrier for circulating the fresh cut flowers according to the present invention;
FIG. 9 is an exploded view of a part of the structure of the carrier for circulating and moving fresh cut flowers according to the present invention;
FIG. 10 is a schematic view of the shifter lever catch wheel assembly of the present invention;
FIG. 11 is a schematic view of the structure of a collecting unit according to the present invention;
FIG. 12 is an internal structural view of a collecting unit in the present invention;
FIG. 13 is a schematic structural diagram of the grafting units of each grade in the present invention;
fig. 14 is a schematic structural view of a first conveying unit and a second conveying unit in the invention.
In the figure: 1. a manual feeding unit; 11. a platform frame; 12. a main conveying roller; 13. a strip belt; 14. a drive roller; 15. a partition plate; 16. a reduction motor; 17. a belt bending roll; 2. an automatic feeding unit; 21. a gantry-type frame; 22. a mechanical gripper; 221. a gripper hanger body; 222. the gripper drives the cylinder; 223. a claw; 224. a rotary driving cylinder; 225. a first bearing seat; 226. a coupling; 227. a rotary cylinder mounting base; 228. a transition plate; 229. rotating the rod; 23. a robot; 24. a vision device; 3. detecting a classification mark unit; 31. a high-speed industrial camera; 32. a length measuring photoelectric sensor; 4. a sterilization unit; 5. a movement disengaging unit; 50. a mobile device frame; 51. circularly moving the fresh cut flower carrier; 511. a carrier main frame; 512. opening and closing the door; 513. a half gear; 514. coating a rubber bearing roller; 515. rotating the deflector rod; 516. a fixed shaft; 517. a tension spring; 518. a fixing sheet; 52. a shift lever catch wheel assembly; 520. a catch wheel moving cylinder; 521. a cylinder mounting frame; 526. rotating the catch wheel; 528. a push-pull shaft; 53. a drive shaft; 55. a synchronous pulley; 56. a synchronous belt with a threaded hole; 57. a second bearing seat; 58. a motor mounting base; 59. a displacement control motor; 6. a collecting unit; 61. a push-pull cylinder; 62. a flower-connected inclined barrel body; 63. the seal plates are oppositely opened; 64. opening and closing the gripper cylinder; 65. rotating the upper and lower partition doors; 66. a fresh cut flower buffer plate is connected; 67. fresh cut flower buffer sponge is connected; 68. a hinge with a torsion spring; 69. a hinge; 7. each grade of the pattern grafting unit; 71. a transverse linear motion module; 72. a support base plate; 73. a base plate support post; 74. ground feet; 75. a bouquet flower-receiving groove; 76. a triangular fixed seat; 8. a first conveying unit; 80. a vertical linear motion module; 81. a mounting rod fixing seat; 82. a gripper mounting bar; 83. a clamping cylinder mounting seat; 84. a gripper cylinder; 85. clamping fingers; 87. fixing the frame; 88. a horizontal movement module; 89. a sliding seat plate; 9. and a second conveying unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-14, the present invention provides a technical solution: an automatic flower sorting device with flower branches comprises: the automatic feeding device comprises a manual feeding unit 1, an automatic feeding unit 2, a detection classification marking unit 3, a sterilization unit 4, a moving separation unit 5, a first conveying unit 8 and a second conveying unit 9;
the discharging end of the manual feeding unit 1 is abutted with a moving separation unit 5, an automatic feeding unit 2 is arranged above the abutted position, a detection classification marking unit 3 and a sterilization unit 4 are respectively arranged on the moving separation unit 5 and close to the automatic feeding unit 2, the moving separation unit 5 stretches across each grade of pattern splicing units 7, the right part of each grade of pattern splicing units 7 is positioned in a first conveying unit 8, and the first conveying unit 8 is in matched butt joint with a second conveying unit 9;
a plurality of collecting units 6 are arranged in the movable disengaging unit 5, and the collecting units 6 are positioned right above the cotton splicing units 7 at all levels;
referring to fig. 2, the manual feeding unit 1 includes a platform frame 11, a conveying device is installed on the platform frame 11, the conveying device includes two main conveying rollers 12, strip belts 13, a driving roller 14, a partition plate 15, a speed reduction motor 16 and a belt bending roller 17, the two main conveying rollers 12 are respectively located at the left end and the right end of the platform frame 11, the main conveying rollers 12 are rotatably connected with the platform frame 11, the main conveying rollers 12 are sleeved with the strip belts 13, the partition plate 15 is arranged between every two adjacent strip belts 13, the strip belts 13 are higher than the partition plate 15, and the fresh cut flower branches are not in contact with other parts except the upper surfaces of the strip belts 13;
the two persons work in a cooperative manner, a first person takes fresh cut flower bales onto the platform rack 11, the fresh cut flowers are unpacked and scattered manually, a second person arranges the fresh cut flowers, the condition of vertical cross stacking is reduced as much as possible, the fresh cut flowers are tiled on the strip-shaped belt 13, the speed reducing motor 16 is fixedly installed on the side face of the platform rack 11, the speed reducing motor 16 is in driving connection with the driving roller 14, the belt bending rollers 17 are symmetrically arranged above the driving roller 14, fixing plates are rotatably installed at two ends of the driving roller 14 and the belt bending rollers 17 and fixedly installed with the platform rack 11, and the strip-shaped belt 13 penetrates through the belt bending rollers 17 and the driving roller 14, so that the speed reducing motor 16 drives the strip-shaped belt 13 to move on the two main conveying rollers 12 through the driving roller 14, and the fresh flowers are conveyed to the next process;
referring to fig. 3-5, the automatic feeding unit 2 includes a gantry frame 21, a mechanical gripper 22 and a robot 23, the gantry frame 21 is disposed above the end of the platform frame 11, two parallel robots 23 are suspended in the gantry frame 21, and the mechanical gripper 22 is mounted at the lower end of each robot 23;
the mechanical hand 22 comprises a hand-grip hanger main body 221 and four hand-grip driving cylinders 222, wherein each hand-grip driving cylinder 222 is in driving connection with a pair of claws 223, a rotating rod 229 is arranged in the hand-grip hanger main body 221, two ends of the rotating rod 229 are respectively provided with two hand-grip driving cylinders 222, the two hand-grip driving cylinders 222 at each end are vertically designed, two ends of the rotating rod 229 are provided with a bearing seat I225 through bearings, the bearing seat I225 is fixedly installed with the hand-grip hanger main body 221, the rotating rod 229 penetrates through one bearing seat I225 and then is connected with a coupling 226, the coupling 226 is connected with the rotation driving cylinder 224, the rotation driving cylinder 224 is fixedly installed with the hand-grip hanger main body 221 through a rotation cylinder installation seat 227, and a transition plate 228 is installed between the hand-grip driving cylinder 222 and the rotating rod 229 so as to facilitate disassembly and installation;
the rotary driving cylinder 224 drives the rotary rod 229 to rotate, the rotary rod 229 rotates in a reciprocating mode by 90 degrees with the axis center line of the rotary rod 229 as the center, the structural requirement for grabbing two fresh cut flowers at a time is met, the two parallel robots 23 are connected with the vision device 24 and the computer control system, the fresh cut flowers are grabbed by the mechanical gripper 22 under the guide of the vision device 24, and the computer control system controls the two robots 23 to work cooperatively, so that fresh flowers are uploaded to the mobile detaching unit 5;
referring to fig. 6, a detection classification marking unit 3 and a sterilization unit 4 are arranged at the end part of a mobile separation unit 5, the mobile separation unit 5 moves fresh cut flowers to a station of the detection classification marking unit 3, a high-speed industrial camera 31 and a length measurement photoelectric sensor 32 are arranged at the inner side of the detection classification marking unit 3, the high-speed industrial camera 31 is connected with a computer control system, the flower head and petals are distinguished by analyzing and capturing photos of the fresh flowers or recording real-time videos, and the length measurement photoelectric sensor 32 detects and records the total length of the fresh cut flowers, so that the fresh flowers are divided into a plurality of grades according to the flower heads, the petals and the length;
the sterilizing unit 4 is internally provided with an atomizing nozzle, the sterilization, disinfection and fresh keeping of the fresh cut flowers are realized by spraying a preparation, and the sterilizing unit 4 is electrically connected with a computer control system to realize automation;
referring to fig. 7-10, the mobile detaching unit 5 includes a mobile device frame 50, a mobile fresh cut flower carrier 51 and a deflector rod blocking wheel assembly 52, after a flower enters the detection classification marking unit 3 following the mobile fresh cut flower carrier 51, the mobile fresh cut flower carrier 51 where a classified flower is located is marked by a computer control system, four groups of synchronous belt wheels 55 are symmetrically installed at two ends of the mobile device frame 50, two synchronous belt wheels 55 are symmetrically installed at the front and back of each group on the mobile device frame 50, a driving shaft 53 is arranged between each group of synchronous belt wheels 55 to realize synchronous rotation, a synchronous belt 56 with a threaded hole is commonly sleeved on the synchronous belt wheels 55 at the front and back sides of the mobile device frame 50, the synchronous belt wheels 55 are rotatably connected with the mobile device frame 50 through two bearing seats 57, a motor mounting seat 58 is arranged at one side of the synchronous belt wheel 55, the motor mounting seat 58 is fixedly installed on the motor mounting seat 58, a displacement control motor 59 is in driving connection with the synchronous belt wheels 55, the displacement control motor 59 drives the synchronous belt wheels 55 to rotate, the synchronous belt 55 drives the synchronous belt 55 to rotate the synchronous belt 55 through the synchronous belt 55, further synchronous belt 56, the synchronous belt 56 with two synchronous belt wheels, the mobile fresh cut flower carrier 51 is fixedly installed on the mobile device frame 51, the mobile fresh cut flower carrier 51 and the deflector rod blocking wheel 52 sequentially passes through the mobile device frame 52;
the carrier 51 for circularly moving the fresh cut flowers comprises a carrier main frame 511, an opening and closing door 512 and a half gear 513, wherein the bottom of the carrier main frame 511 is fixedly installed with a threaded hole synchronous belt 56 through screws, a concave track is arranged on the inner side of an upper beam of the mobile device rack 50, rubber-coated bearing rollers 514 are symmetrically installed at two ends of the carrier main frame 511, the rubber-coated bearing rollers 514 are slidably connected with the concave track of the mobile device rack 50, a tension spring 517 is installed at two sides of the carrier main frame 511, the other end of the tension spring 517 is fixedly connected with a fixing sheet 518, and the fixing sheet 518 is fixedly connected with the opening and closing door 512;
two opening and closing doors 512 are symmetrically arranged, two ends of each opening and closing door 512 are in rotating connection with a carrier main frame 511 through fixing shafts 516, a half gear 513 is clamped between each fixing shaft 516 and each opening and closing door 512, the two half gears 513 are meshed, a rotating lifting lever 515 is fixedly installed on one half gear 513, the joint of each fixing shaft 516, the corresponding half gear 513 and each opening and closing door 512 adopts a hexagonal design, when the corresponding half gear 513 rotates, the corresponding opening and closing door 512 is driven to rotate through the fixing shafts 516, the two opening and closing doors 512 are opened and closed relatively, the opening and closing doors 512 are fixed in a closed state through fixing plates 518 by tension springs 517 in a conventional state, fresh flowers are located on the opening and closing doors 512, and when the opening and closing doors 512 are opened, the fresh flowers freely fall from the opening and closing doors 512;
the poking rod catch wheel assemblies 52 are provided with a plurality of poking rod catch wheel assemblies 52, each poking rod catch wheel assembly 52 comprises a catch wheel moving cylinder 520, a cylinder mounting frame 521 and a rotating catch wheel 526, the cylinder mounting frames 521 and the moving device frame 50 are fixedly mounted, the catch wheel moving cylinders 520 drive the push-pull shafts 528 to move back and forth, the rotating catch wheels 526 are rotatably mounted at the end parts of the push-pull shafts 528, when the rotating catch wheels 515 are required to be pressed downwards, the catch wheel moving cylinders 520 drive the push-pull shafts 528 to extend out, the rotating catch wheels 526 move to the positions above the rotating catch wheels 515, the rotating catch wheels 515 are pressed downwards by the rotating catch wheels 526 to rotate, the half gears 513 are driven to rotate, the opening and closing doors 512 are driven to rotate through the fixed shafts 516, flowers on the opening and closing doors 512 fall down, when the rotating catch wheels 515 are separated from the rotating catch wheels 526, the rotating catch wheels 515 are not stressed, and the opening and closing doors 512 are pulled to be reset by the tension springs 517;
a collecting unit 6 is arranged at the lower end of each cylinder mounting rack 521, when the circulating mobile fresh cut flower carrier 51 carries fresh flowers and moves to the position of the appointed collecting unit 6, the computer control system triggers each deflector rod and baffle wheel assembly 52, and when the circulating mobile fresh cut flower carrier 51 with the appointed grade number is detected, the opening and closing door 512 is opened, and the fresh cut flowers fall into the appointed collecting unit 6;
referring to fig. 11-12, the collecting unit 6 includes a push-pull cylinder 61, a flower-receiving inclined barrel 62 and a flower-receiving buffer plate 66, the flower-receiving inclined barrel 62 is fixedly mounted at the lower end of the cylinder mounting bracket 521, the upper and lower ends of the flower-receiving inclined barrel 62 are both provided with openings, the opening is obliquely provided with the flower-receiving buffer plate 66, a flower-receiving buffer sponge 67 is arranged in the flower-receiving buffer plate 66 to play a role in buffering and prevent falling flowers from falling, the lower end of the flower-receiving buffer plate 66 is elastically and rotatably connected with the flower-receiving inclined barrel 62 through a hinge 68 with a torsion spring, the push-pull cylinder 61 is rotatably mounted at the lower end of the flower-receiving inclined barrel 62, the push-pull cylinder 61 is electrically connected with a computer control system, the push-pull cylinder 61 is rotatably connected with a rotary upper partition door 65 and a lower partition door 65, the lower barrel 62 of the flower-receiving inclined barrel 62 is provided with a hollow window, the rotary upper partition door 65 is rotatably connected with the upper edge of the hollow window through a hinge 69, when the flower-cut flowers need to be further prevented from falling, the flower-receiving inclined barrel 62 and the flower-pull cylinder 61 is further connected with the upper partition door and lower partition door 65 to prevent the flower-falling flower-receiving inclined barrel from falling, the flower-pulling inclined barrel 62, and the flower-pulling inclined barrel 62;
the front and the back of the flower-receiving inclined barrel body 62 are symmetrically provided with opening and closing gripper cylinders 64, the opening and closing gripper cylinders 64 are connected with a pair of opposite-opening sealing plates 63 in a driving mode, the opening and closing gripper cylinders 64 are connected with a computer control system in an electric control mode, the opening and closing gripper cylinders 64 drive the opposite-opening sealing plates 63 to enable the opposite-opening sealing plates 63 to be in a closed or open state, the opening and closing of the lower end of the flower-receiving inclined barrel body 62 are achieved, and fresh cut flowers are controlled to be led out of the opposite-opening sealing plates 63;
the fresh flowers separated from the circularly moving fresh cut flower carrier 51 moving at a high speed fall on the fresh cut flower receiving buffer plate 66, fall along the lower panel of the inclined flower receiving barrel body 62 under the action of gravity, and are closed on the upper space by the rotary upper and lower partition doors 65, when the fresh flowers continuously fall and the number of the closed fresh flowers reaches a set number, the rotary upper and lower partition doors 65 are opened, the fresh flowers are all closed immediately after falling into the lower space, and the fresh flowers are closed on the lower space by the pair of opposite sealing plates 63;
referring to fig. 13, each grade of flower-receiving unit 7 is arranged right below the collecting unit 6, each grade of flower-receiving unit 7 includes a transverse linear motion module 71, a supporting base plate 72, a bouquet flower-receiving groove 75 and a triangular fixing seat 76, a base plate supporting column 73 is installed at the edge of the lower end of the supporting base plate 72, a foot margin 74 is installed at the lower end of the base plate supporting column 73, the supporting base plate 72 is made to cross over the moving device frame 50 and the first conveying unit 8 through the base plate supporting column 73 and the foot margin 74, and the supporting base plate 72 is fixedly installed with the moving device frame 50 through the triangular fixing seat 76;
a plurality of transverse linear motion modules 71 are mounted on the supporting bottom plate 72, flower bunch flower-collecting grooves 75 are formed in the transverse linear motion modules 71, the transverse linear motion modules 71 correspond to the inclined flower-collecting barrel bodies 62 respectively, and when the opening and closing clamp air cylinders 64 are controlled by the computer control system to open the opening and closing sealing plates 63, flowers fall on the flower bunch flower-collecting grooves 75 freely and are conveyed into the first conveying unit 8 through the transverse linear motion modules 71;
referring to fig. 14, the first conveying unit 8 includes a fixed frame 87, a horizontal movement module 88 is disposed at the upper end of the fixed frame 87, the horizontal movement module 88 is mainly formed by slidably connecting a moving cylinder and a guide rail, a sliding seat plate 89 is disposed on the horizontal movement module 88, the sliding seat plate 89 is driven by the horizontal movement module 88 to move on the fixed frame 87, a vertical linear movement module 80 is mounted on the sliding seat plate 89, the vertical linear movement module 80 is mainly formed by a lifting cylinder and a guide rail, a clamping bar mounting rod 82 is fixedly mounted at the lower end of the vertical linear movement module 80 through a mounting rod fixing seat 81, a clamping cylinder mounting seat 83 is fixedly mounted on the clamping bar mounting rod 82, a clamping cylinder 84 is mounted at the lower end of the clamping cylinder mounting seat 83, and a pair of clamping fingers 85 is mounted below the clamping cylinder 84;
when the flowers are transported to the first transporting unit 8 through the horizontal linear motion module 71, the computer control system drives the horizontal motion module 88 to drive the vertical linear motion module 80 to move, the vertical linear motion module 80 drives the clamping hand installation rod 82 to move up and down, the clamping hand cylinder installation seat 83 drives the clamping fingers 85 to move to the upper side of the appointed horizontal linear motion module 71, the clamping hand cylinder 84 drives the clamping fingers 85 to grab the flowers, the flowers are lifted to the second transporting unit 9 through the horizontal motion module 88 and the vertical linear motion module 80, the flowers are transported out through the second transporting unit 9, and the second transporting unit 9 is used for a butt joint packaging workshop.
The working principle is as follows: the fresh cut flower is unpacked manually and spread on a plurality of parallel strip belts 13 and conveyed to an automatic feeding unit 2 by a manual feeding unit 1, two parallel robots 23 grab the fresh cut flowers under the guide of a vision device 24 and upload the fresh cut flowers to a circulating moving fresh cut flower carrier 51 of a moving separation unit 5, the fresh cut flowers are detected by a detecting and classifying marking unit 3, fresh flower photos or real-time video analysis is captured, flower head petals are distinguished, a length measuring photoelectric sensor 32 detects the total length of the fresh cut flowers and records the total length, the fresh cut flowers are divided into a plurality of grades according to indexes such as the size, the length and the like of the flower head petals, the grades are recorded on the serial number of the circulating moving fresh cut flower carrier 51 by a PLC (programmable logic controller), then, the sterilizing unit 4 sterilizes and sterilizes, when the fresh cut flowers move to the upper part of the collecting unit 6 on the circularly moving fresh cut flower carrier 51, the computer control system triggers each driving lever wheel-blocking assembly 52, according to the index grade of the fresh flowers, the opening and closing door 512 is opened by the circularly moving fresh cut flower carrier 51 with the specified number, the fresh cut flowers fall into the specified oblique flower barrel body 62, each oblique flower barrel body 62 collects the fresh cut flowers with the same index grade, the rotating upper and lower partition doors 65 are opened after the number of the fallen fresh cut flowers reaches the set number, the fresh cut flower bundles fall into the lower storage space of the oblique flower barrel body 62, at the moment, the rotating upper and lower partition doors 65 rotate to seal the upper and lower spaces of the oblique flower barrel body 62, the computer control system controls the opening and closing hand grip cylinder 64 to open the opening and closing sealing plate 63, the fresh cut flower bundles fall into the flower bundle flower receiving groove 75 dragged by the transverse linear motion module 71, the classified fresh cut flower bundles are transferred to the first conveying unit 8, the first conveying unit 8 is classified and grabbed according to the flower bundle grade, the fresh cut flowers are transferred to the second conveying unit 9 and enter a packaging workshop, and the sorting of the fresh cut flowers is finished.
Those not described in detail in this specification are well within the skill of the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic flower sorting device with flower branches comprises: the automatic sorting device comprises a feeding mechanism, a sorting mechanism and a conveying mechanism, wherein the feeding mechanism comprises a manual feeding unit (1) and an automatic feeding unit (2), and the conveying mechanism comprises a first conveying unit (8) and a second conveying unit (9);
the method is characterized in that: the sorting mechanism comprises a moving and disengaging unit (5), a flower receiving unit (7) stretching in the moving and disengaging unit (5), a detection and classification marking unit (3) and a sterilization unit (4) which are arranged on the moving and disengaging unit (5), and a plurality of collecting units (6) which are arranged in the moving and disengaging unit (5), wherein the collecting units (6) are positioned right above the flower receiving unit (7);
the blanking end of the manual feeding unit (1) is butted, moved and separated from the unit (5), an automatic feeding unit (2) is arranged above the butted position, the right part of each grade of pattern splicing unit (7) is positioned in a first conveying unit (8), and the first conveying unit (8) is in matched butt joint with a second conveying unit (9);
a high-speed industrial camera (31) and a length measurement photoelectric sensor (32) are arranged on the inner side of the detection classification marking unit (3), and the high-speed industrial camera (31) is connected with a computer control system;
the mobile separation unit (5) comprises a mobile device rack (50), circularly moving fresh cut flower carriers (51) and a driving lever wheel blocking assembly (52), wherein a motor driving conveying belt structure is installed on the mobile device rack (50), a plurality of circularly moving fresh cut flower carriers (51) are arranged on the conveying belt structure, the driving lever wheel blocking assembly (52) is installed on the mobile device rack (50), and the circularly moving fresh cut flower carriers (51) sequentially circulate through the driving lever wheel blocking assembly (52);
the conveyor belt mechanism on the mobile device rack (50) comprises synchronous belt wheels (55) and threaded hole synchronous belts (56), four groups of synchronous belt wheels (55) are symmetrically installed at two ends of the mobile device rack (50), each group of synchronous belt wheels (55) is symmetrically arranged on the mobile device rack (50) in a front-back manner, a driving shaft (53) is arranged between each group of synchronous belt wheels (55), one threaded hole synchronous belt (56) is sleeved on the synchronous belt wheel (55) on the front-back side of the mobile device rack (50) together, the synchronous belt wheels (55) are rotationally connected with the mobile device rack (50) through two bearing seats (57), a motor mounting seat (58) is arranged on one side of each synchronous belt wheel (55), the motor mounting seat (58) and the mobile device rack (50) are fixedly installed, a displacement control motor (59) is fixedly installed on the motor mounting seat (58), the displacement control motor (59) is in driving connection with the synchronous belt wheels (55), and the displacement control motor (59) drives the synchronous belt wheels (55) to rotate;
the circulating mobile cut-flower carrier (51) comprises a carrier main frame (511), an opening and closing door (512) and a half gear (513), wherein the half gear (513) drives the opening and closing door (512) to rotate in the carrier main frame (511) to open and close, a plurality of deflector rod and deflector wheel assemblies (52) comprise deflector wheel moving cylinders (520), cylinder mounting frames (521) and rotating deflector wheels (526), the deflector wheel moving cylinders (520) drive the rotating deflector wheels (526) to do telescopic motion, the deflector rod and deflector wheel assemblies (52) are provided, a collection unit (6) is correspondingly mounted below each deflector rod and deflector wheel assembly (52), the cylinder mounting frames (521) are fixedly mounted with the mobile device frame (50), the deflector wheel moving cylinders (520) drive a push-pull shaft (528) to move back and forth, and the rotating deflector wheels (526) are rotatably mounted at the end parts of the push-pull shaft (528);
carrier main frame (511) bottom is through screw and threaded hole hold-in range (56) fixed mounting, mobile device frame (50) is put the beams in place and is equipped with the concave track, rubber coating bearing gyro wheel (514) are installed to carrier main frame (511) both ends symmetry, the concave track sliding connection of rubber coating bearing gyro wheel (514) and mobile device frame (50), extension spring (517) is installed to carrier main frame (511) both sides, extension spring (517) other end fixed connection stationary blade (518), stationary blade (518) and shutter (512) fixed connection, shutter (512) symmetry is equipped with two, shutter (512) both ends form the rotation connected relation through fixed axle (516) and carrier main frame (511), accompany a half gear (513) respectively between two fixed axles (516) and two shutter (512), two half gear (513) meshing, and fixed mounting rotation driving lever (515) on one of them half gear (513), fixed axle (516) and half gear (513) and shutter (512) junction adopt the hexagonal design.
2. The automatic flower sorting device with flowering branches as claimed in claim 1, wherein the manual feeding unit (1) comprises a platform frame (11), a conveying device is installed on the platform frame (11), the conveying device comprises a main conveying roller (12), strip-shaped belts (13), a driving roller (14), a partition plate (15), a speed reduction motor (16) and a belt bending roller (17), the number of the main conveying rollers (12) is two, the main conveying rollers are respectively located at the left end and the right end of the platform frame (11), the main conveying roller (12) is rotatably connected with the platform frame (11), the main conveying roller (12) is sleeved with the strip-shaped belts (13), the partition plate (15) is arranged between every two adjacent strip-shaped belts (13), the strip-shaped belts (13) are higher than the partition plate (15), the speed reduction motor (16) is fixedly installed on the side surface of the platform frame (11), the speed reduction motor (16) is driven and connected with the driving roller (14), the belt bending roller (17) is symmetrically arranged above the driving roller (14), the fixing plate and the platform frame (11) are rotatably installed, the fixing plate and the second belt bending roller (17) passes through the second belt bending roller (17) in sequence.
3. The automatic flower sorting equipment with flowering branches as claimed in claim 2, wherein the automatic feeding unit (2) comprises a gantry type frame (21), two parallel robots (23) are suspended in the gantry type frame (21), the mechanical gripper (22) is mounted at the lower end of each robot (23), the mechanical gripper (22) comprises a gripper hanger main body (221) and four gripper driving cylinders (222), each gripper driving cylinder (222) is in driving connection with a pair of grippers (223), a rotating rod (229) is arranged in the gripper hanger main body (221), two gripper driving cylinders (222) are respectively mounted at two ends of the rotating rod (229), the two gripper driving cylinders (222) at each end are vertically designed, the two ends of the rotating rod (229) are fixedly mounted with the gripper hanger main body (221) through a bearing mounting shaft bearing seat (225), the rotating rod (229) penetrates through one bearing seat (225) and then is connected with a coupler (226), the coupler (226) is connected with the rotating cylinder (224), the rotating rod driving cylinder (224) is fixedly mounted with the gripper hanger main body (221) through a rotating shaft bearing mounting shaft bearing seat (228), and the gripper driving cylinder (227), the two parallel robots (23) are connected with a vision device (24) and a computer control system.
4. The automatic sorting apparatus of fresh flowers with flowering branches according to claim 1, the collecting unit (6) comprises a push-pull cylinder (61), a flower-receiving inclined barrel body (62) and a fresh cut flower receiving buffer plate (66), the flower-receiving inclined barrel body (62) is fixedly arranged at the lower end of a cylinder mounting frame (521), openings are formed in the upper end and the lower end of the flower-receiving inclined barrel body (62), the fresh cut flower receiving buffer plate (66) is obliquely arranged at the openings, fresh cut flower receiving buffer sponge (67) is arranged in the fresh cut flower receiving buffer plate (66), the lower end of the fresh cut flower receiving buffer plate (66) is elastically and rotatably connected with the flower-receiving inclined barrel body (62) through a hinge (68) with a torsion spring, the push-pull cylinder (61) is rotatably arranged on the lower end face of the flower-receiving inclined barrel body (62), push-and-pull cylinder (61) automatically controlled connection computer control system, push-and-pull cylinder (61) rotate and connect rotatory upper and lower partition door (65), the fretwork window has been seted up on the staving under oblique bucket staving of connecing flowers (62), rotatory upper and lower partition door (65) are rotated with the top edge of fretwork window and are connected through hinge (69), connect to flower oblique bucket staving (62) front and back symmetry and install switching tongs cylinder (64), switching tongs cylinder (64) drive is connected a pair of shrouding (63) of running from opposite directions, switching tongs cylinder (64) are connected with computer control system is automatically controlled, switching tongs cylinder (64) drive is run from opposite directions shrouding (63).
5. The automatic flower sorting equipment with flowering branches as claimed in claim 4, wherein each grade of flower collecting unit (7) comprises a transverse linear motion module (71), a support base plate (72), a bouquet flower collecting groove (75) and a triangular fixing seat (76), a base plate support column (73) is installed at the edge of the lower end of the support base plate (72), lower feet (74) are installed at the lower end of the base plate support column (73), the support base plate (72) stretches across the moving device rack (50) and the first conveying unit (8), a plurality of transverse linear motion modules (71) are installed on the support base plate (72), the bouquet flower collecting groove (75) is arranged on each transverse linear motion module (71), and each transverse linear motion module (71) corresponds to each flower collecting inclined barrel body (62).
6. The automatic flower sorting equipment with flowering branches as claimed in claim 1, wherein the first conveying unit (8) comprises a fixed rack (87), a horizontal movement module (88) is arranged at the upper end of the fixed rack (87), the horizontal movement module (88) mainly comprises a moving cylinder and a guide rail in sliding connection, a sliding seat plate (89) is arranged on the horizontal movement module (88), the sliding seat plate (89) is driven by the horizontal movement module (88) to move on the fixed rack (87), a vertical linear movement module (80) is installed on the sliding seat plate (89), the vertical linear movement module (80) mainly comprises a lifting cylinder and a guide rail, a clamping hand device is fixedly installed at the lower end of the vertical linear movement module (80) through an installation rod fixing seat (81), the clamping hand device comprises a clamping hand installation rod (82), a clamping hand cylinder installation seat (83) is fixedly installed on the clamping hand installation rod (82), a clamping hand cylinder (84) is installed at the lower end of the clamping hand cylinder installation seat (83), and a pair of clamping fingers (85) is installed below the clamping hand cylinder (84).
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